NDLI: Bio-inspired hovering control for an aerial robot equipped with a decoupled eye and a rate gyro

Content Provider	IEEE Xplore Digital Library
Author	Manecy, A. Viollet, S. Marchand, N.
Copyright Year	2012
Description	Author affiliation: Aix-Marseille Université, CNRS, ISM UMR7287, 13288, cedex 09, France (Viollet, S.) \|\| GIPSA-lab laboratory, Control Systems Dept., SySCo team, CNRS-Univ. of Grenoble, ENSE3 BP 46, 38402 St Martin d'Hères Cedex, France (Manecy, A.; Marchand, N.)
Abstract	Hovering flies are capable of achieving outstanding performances when hovering above flowers for several minutes. A new insect-based hovering control strategy is presented here for accurately stabilizing the position of a sighted twin-rotor equipped with a decoupled eye with a narrow field-of-view of only a few degrees. The main aim of this paper is to describe how accurately hovering flight above a target can be achieved by means of this fundamental bio-inspired mechanical decoupling system between the eye and the body. The simulated gaze control system implemented on-board the aerial robot has several advantages : — it enables the robot's gaze to be stabilized on the basis of three bio-inspired oculomotor reflexes (ORs) : a visual fixation reflex (VFR), a translational reflex and a rotational vestibulo-ocular reflex (tVOR and rVOR), — it makes the eye compensate quickly and accurately for any sudden, untoward disturbances caused by the vagaries of the supporting head or body, — it provides a reference visual signal to compensate for the rate gyro drift used to implement the VORs and to stabilize the hovering robot, — it greatly improves the stability of the robot's roll during voluntary lateral displacements with respect to the target. Close comparisons were made between two simulated robots with and without a decoupled eye, which were both subjected to strong lateral and roll disturbances. The simulations show that the robot with a decoupled eye can reject disturbances twice as fast as that with a fixed eye. This innovative bio-inspired hovering control method stabilizes the robot's attitude without any need for accelerometers, magnetometers or classical inertial measurement units.
Starting Page	1110
Ending Page	1117
File Size	1938634
Page Count	8
File Format	PDF
ISBN	9781467317375
ISSN	21530858
e-ISBN	9781467317368
DOI	10.1109/IROS.2012.6385853
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-10-07
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Visualization Observers Velocity control Propellers
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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